Chronology of the program~
We wanted to create a program that would allow our robot to stay in the arena, i.e. adapt a good behavior depending on what its detectors were detecting. However, as it is also a fighting arena, we wanted our robot to search for an opponent and to push the opponent out of the ring.
On that purpose, we established a program, where our robot will initially turn around to detect an opponent (using an ultrasonic sensor) and once the opponent is detected, the robot will run forwards, full speed. Nevertheless, if the light detectors detect the white ring surrounding the arena, the robot will escape the are. For instance, if the light sensors detect the white ring, then the robot will go backward (if an ennemi get pushed out, our robot won't follow the opponent out of the ring) and turn around to search for the enemy. If the light sensor at the back detects the white ring, then our robot will go forwards and turn around to search for an enemy.
First version program:
Second version Program (19/06/28):
#06/30 comments: Notice that we modify few things between the first version and the last one. After the fight with team 2's robot, we added a back light sensor so that we can't get easily ejected of the arena from the front. We also added 5° to the rotation of the robot when the robot search for an enemy, so that the search is slow, but cover a slightly bigger range. We also reduced the detection distance of the ultrasonic sensor, to increase the aggressiveness of the robot. Additionally, we increased the distance and reduced the speed when the front detectors detect the white line of the arena, because it was a bit too short and a bit too brutal. However, the speed has been increase for when the light sensor at the back detect the white line, because usually, it's when the opponent try to push us out (so we want to retaliate; that's also why when the ultrasonic sensor detect an object, the drive forwards speed is at 100%.). Now, we should try improving the program for when the robot is pushed from the side, because there's a risk that the robot drives itself out of the ring by confusion.
Third version (19/07/05):
#07/05 comments: We added the "wait until" and 'wait" command to avoid trouble when using the program in real time during battle i.e. sometimes one robot program will being and the other won't. With these commands, once the program in received by the robot, we have touch any button and 5 seconds later, the normal program will launch. It allows the two opponents to be activated simultaneously and for the person activating the robots to go away before the fight begins. Notice that we increase the initial rotation speed from 30 to 55 and it seems to be too high as we failed detecting the opponent robot sometimes during the training. Maybe we should increase the distance of the ultrasonic sensor.
Final version (17/07/19):
#07/17 comments: This is the last version of our program. We increased the sensibility of the light sensors and the ultrasonic sensor. Additionally, we modified the turning degree of the first 180°turn (the program considers a degree of 130, but effectively, the robot turns at 180°). We also added after the said turn, a drive forward command, to be sure that the robot immediately drives towards the opponent, no matter the detection by the ultrasonic sensor. It's risky, but it works.
#07/18 comments: We only used the first "drive forwards" command of the program against team 2.
